template<class T , class S >

int StateMachineDrive< T, S >::CheckState ( )

inlineprivate

Definition at line 2502 of file drivectrl.cc.

References Drive::State::kArmed, Drive::State::kAvailable, Drive::State::kBlocked, State::kDisconnected, Drive::State::kMoving, Drive::State::kOnTrack, Drive::State::kParking, StateMachineImp::kSM_Error, Drive::State::kStopping, Drive::State::kTracking, and Drive::State::kUnavailable.

    {
        if (!fDrive.IsConnected())
            return State::kDisconnected;

        if (!fDrive.IsOnline())
            return State::kUnavailable;

        // FIXME: This can prevent parking in case e.g.
        // of e8029 Position limit exceeded
        if (fDrive.HasError())
        {
            if (T::GetCurrentState()==State::kOnTrack  ||
                T::GetCurrentState()==State::kTracking ||
                T::GetCurrentState()==State::kMoving   ||
                T::GetCurrentState()==State::kParking)
                return StopMovement();

            if (T::GetCurrentState()==State::kStopping && fDrive.IsMoving())
                return State::kStopping;

            return StateMachineImp::kSM_Error;
        }

        // This can happen if one of the drives is not in RF.
        // Usually this only happens when the drive is not yet in RF
        // or an error was just cleared. Usually there is no way that
        // a drive goes below the RF state during operation without
        // a warning or error message.
        if (fDrive.IsOnline() && fDrive.IsBlocked())
            return State::kBlocked;

        if (fDrive.IsOnline() && !fDrive.IsReady())
            return State::kAvailable;

        // This is the case as soon as the init commands were send
        // after a connection to the SPS was established
        if (fDrive.IsOnline() && fDrive.IsReady() && !fDrive.IsInitialized())
            return State::kArmed;

        return -1;
    }